hirromu takaki / mechanism

機構部

Dependents:   2019BSyudo Bsyudo 2019Bsyudo

mechanism.h@3:ff9bb9f8fabe, 2019-10-04 (annotated)

Committer:
THtakahiro702286
Date:
Fri Oct 04 08:15:54 2019 +0000
Revision:
3:ff9bb9f8fabe
Parent:
1:58b20a731e15 
mechanism

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:0b7a52a20594 1 #ifndef MECHANISM_H
THtakahiro702286 0:0b7a52a20594 2 #define MECHANISM_H
THtakahiro702286 0:0b7a52a20594 3
THtakahiro702286 0:0b7a52a20594 4 #include "mbed.h"
THtakahiro702286 0:0b7a52a20594 5 #include "pin_config.h"
THtakahiro702286 0:0b7a52a20594 6 #include "ikarashiMDC.h"
THtakahiro702286 1:58b20a731e15 7 #include "omni_wheel.h"
THtakahiro702286 0:0b7a52a20594 8
THtakahiro702286 0:0b7a52a20594 9 class Mechanism
THtakahiro702286 0:0b7a52a20594 10 {
THtakahiro702286 0:0b7a52a20594 11 public:
THtakahiro702286 0:0b7a52a20594 12 Mechanism(Serial* serial);
THtakahiro702286 1:58b20a731e15 13 void sendHeader();
THtakahiro702286 0:0b7a52a20594 14 void getTrigger(int Trigger);
THtakahiro702286 0:0b7a52a20594 15 void up();
THtakahiro702286 0:0b7a52a20594 16 void down();
THtakahiro702286 0:0b7a52a20594 17 void collect();
THtakahiro702286 0:0b7a52a20594 18 void hookRight();
THtakahiro702286 0:0b7a52a20594 19 void hookLeft();
THtakahiro702286 0:0b7a52a20594 20 void loadRight();
THtakahiro702286 0:0b7a52a20594 21 void loadLeft();
THtakahiro702286 0:0b7a52a20594 22 void lift();
THtakahiro702286 1:58b20a731e15 23 void setBrake(int trigger);
THtakahiro702286 3:ff9bb9f8fabe 24 void move(float x,float y,float turnPower,float nowAngle,float norm);
THtakahiro702286 1:58b20a731e15 25 void stop();
THtakahiro702286 1:58b20a731e15 26 void noAct();
THtakahiro702286 0:0b7a52a20594 27
THtakahiro702286 0:0b7a52a20594 28 private:
THtakahiro702286 0:0b7a52a20594 29 int trigger;
THtakahiro702286 0:0b7a52a20594 30 ikarashiMDC **md;
THtakahiro702286 1:58b20a731e15 31 OmniWheel omni;
THtakahiro702286 1:58b20a731e15 32 float wheel[4];
THtakahiro702286 3:ff9bb9f8fabe 33 float brake,rad;
THtakahiro702286 0:0b7a52a20594 34 };
THtakahiro702286 0:0b7a52a20594 35
THtakahiro702286 0:0b7a52a20594 36 #endif